Device and method for controlling vehicle

Abstract

A device for controlling a vehicle may include a sensor that senses an object around the vehicle and acquires travel information of the vehicle, and a controller that creates an integrated line corresponding to a road where the vehicle is traveling, and sets a region of interest corresponding to the object based on the integrated line, and changes the region of interest based on the travel information of the vehicle.

What is claimed is: 
     
       1. A device for controlling a vehicle, the device comprising:
 a sensor configured to sense an object around the vehicle and acquire travel information of the vehicle; and 
 a controller configured to:
 create integrated lines corresponding to a road where the vehicle is traveling; and 
 set a region of interest corresponding to the object based on the integrated lines, and change the region of interest based on the travel information, 
 wherein the controller changes the region of interest based on a travel situation, and determines behavior of the object based on a location of the object sensed based on the changed region of interest, 
 wherein the controller controls the vehicle based on the determined behavior of the object, 
 wherein the controller creates the integrated lines based on at least one of lane link, lane side, point level path, or any combination thereof of the road, and 
 wherein the integrated lines are created based on a road shape sensed by the sensor. 
 
 
     
     
       2. The device of  claim 1 , wherein the region of interest includes at least one of a cut-in region, an inner path region, or a deflected region. 
     
     
       3. The device of  claim 1 , wherein the controller is configured to:
 store a critical distance calculated based on the travel information and information on the road as a look up table; and 
 change the region of interest based on the critical distance. 
 
     
     
       4. The device of  claim 1 , wherein the controller is configured to:
 learn a data set including the travel information and information on the road to output a critical distance; and 
 change the region of interest based on the critical distance. 
 
     
     
       5. The device of  claim 1 , wherein the controller is configured to:
 generate a calculation formula for calculating a critical distance based on the travel information, travel information of the object, and a distance between the vehicle and the object; and 
 change the region of interest based on the critical distance calculated based on the calculation formula. 
 
     
     
       6. The device of  claim 1 , wherein the controller is configured to:
 calculate a critical distance based on the travel information; 
 generate a compensation function based on an average speed and an average number of sudden braking of the vehicle; 
 adjust the critical distance based on the compensation function; and 
 change the region of interest based on the adjusted critical distance. 
 
     
     
       7. The device of  claim 1 , wherein the controller is configured to:
 determine the behavior of the object based on the region of interest. 
 
     
     
       8. The device of  claim 7 , wherein the controller is configured to:
 apply the region of interest equally to a plurality of objects; 
 determine whether the plurality of objects is identical to each other using dead reckoning after the region of interest is set; and 
 determine behaviors of the plurality of objects when the plurality of objects is determined to be identical to each other. 
 
     
     
       9. The device of  claim 7 , wherein the controller is configured to:
 set a first region of interest when the object enters the region of interest; 
 set a second region of interest that is different from the first region of interest when the object deviates from the region of interest; and 
 determine the behavior of the object based on the first region of interest and the second region of interest. 
 
     
     
       10. The device of  claim 7 , wherein:
 the sensor is configured to sense the object in a number of frames greater than a predetermined number, and 
 the controller is configured to determine the behavior of the object based on the region of interest when the object is sensed in the number of frames greater than the predetermined number. 
 
     
     
       11. A method for controlling a vehicle, the method comprising:
 sensing, by a sensor, an object around the vehicle and acquiring travel information of the vehicle; 
 creating, by a controller, integrated lines corresponding to a road where the vehicle is traveling; and 
 setting, by the controller, a region of interest corresponding to the object based on the integrated lines, and changing the region of interest based on the travel information, 
 wherein the controller changes the region of interest based on a travel situation, and determines behavior of the object based on location of the object sensed based on the changed region of interest, 
 wherein the controller controls the vehicle based on the determined behavior of the object, 
 wherein the controller creates the integrated lines based on at least one of lane link, lane side, point level path, or any combination thereof of the road, and 
 wherein the integrated lines are created based on a road shape sensed by the sensor. 
 
     
     
       12. The method of  claim 11 , wherein the region of interest includes at least one of a cut-in region, an inner path region, or a deflected region. 
     
     
       13. The method of  claim 11 , further comprising:
 storing, by the controller, a critical distance calculated based on the travel information and information on the road as a look up table; and 
 changing, by the controller, the region of interest based on the critical distance. 
 
     
     
       14. The method of  claim 11 , further comprising:
 learning, by the controller, a data set including the travel information and information on the road to output a critical distance; and 
 changing, by the controller, the region of interest based on the critical distance. 
 
     
     
       15. The method of  claim 11 , further comprising:
 generating, by the controller, a calculation formula for calculating a critical distance based on the travel information, travel information of the object, and a distance between the vehicle and the object; and 
 changing, by the controller, the region of interest based on the critical distance calculated based on the calculation formula. 
 
     
     
       16. The method of  claim 11 , further comprising:
 calculating, by the controller, a critical distance based on the travel information; 
 generating, by the controller, a compensation function based on an average speed and an average number of sudden braking of the vehicle; 
 adjusting, by the controller, the critical distance based on the compensation function; and 
 changing, by the controller, the region of interest based on the adjusted critical distance. 
 
     
     
       17. The method of  claim 11 , further comprising:
 determining, by the controller, the behavior of the object based on the region of interest. 
 
     
     
       18. The method of  claim 17 , further comprising:
 applying, by the controller, the region of interest equally to a plurality of objects; 
 determining, by the controller, whether the plurality of objects is identical to each other using dead reckoning after the region of interest is set; and 
 determining, by the controller, behaviors of the plurality of objects when the plurality of objects is determined to be identical to each other. 
 
     
     
       19. The method of  claim 17 , further comprising:
 setting, by the controller, a first region of interest when the object enters the region of interest; 
 setting, by the controller, a second region of interest that is different from the first region of interest when the object deviates from the region of interest; and 
 determining, by the controller, the behavior of the object based on the first region of interest and the second region of interest. 
 
     
     
       20. The method of  claim 17 , further comprising:
 sensing, by the sensor, the object in a number of frames greater than a predetermined number; and 
 determining, by the controller, the behavior of the object based on the region of interest when the object is sensed in the number of frames greater than the predetermined number.